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- meta/task_text_embeddings_info.json +7 -0
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README.md
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| 1 |
+
---
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| 2 |
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license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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| 6 |
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- LeRobot
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| 7 |
+
- language_table
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| 8 |
+
- openx
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| 9 |
+
- franka
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| 10 |
+
configs:
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| 11 |
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- config_name: default
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| 12 |
+
data_files: data/*.parquet
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| 13 |
+
---
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| 14 |
+
Language Table (LeRobot) — Embedding-Only Release
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| 15 |
+
(DINOv3 + SigLIP2 image features; EmbeddingGemma task-text features)
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| 16 |
+
|
| 17 |
+
This repository packages a re-encoded variant of [IPEC-COMMUNITY/toto_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/toto_lerobot) where raw videos are replaced by fixed-length image embeddings, and task strings are augmented with text embeddings. All indices, splits, and semantics remain consistent with the source dataset while storage and I/O are substantially lighter. To make the dataset practical to upload/download and stream from the Hub, we also consolidated tiny per-episode Parquet files into N large Parquet shards under a single data/ folder. The file meta/sharded_index.json preserves a precise mapping from each original episode (referenced by a normalized identifier of the form data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet) to its shard path and row range, so you keep original addressing without paying the small-file tax.
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| 18 |
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| 19 |
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- Robot: Franka
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| 20 |
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- Modalities kept: states, actions, timestamps, frame/episode indices, image embeddings, task-text embeddings
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| 21 |
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- Removed:
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| 22 |
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- observation.images.image
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| 23 |
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- License: apache-2.0 (inherits from source)
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| 24 |
+
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| 25 |
+
----------------------------------------------------------------
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| 26 |
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| 27 |
+
Quick Stats
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| 28 |
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|
| 29 |
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From meta/info.json and meta/task_text_embeddings_info.json:
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| 30 |
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| 31 |
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- Episodes: 902
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| 32 |
+
- Frames: 294,139
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| 33 |
+
- Tasks (unique): 1
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| 34 |
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- Chunks (original layout): 1 (chunks_size=1000)
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| 35 |
+
- Shards (this release): 64 Parquet files under data/ (see meta/sharded_index.json)
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| 36 |
+
- FPS: 30
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| 37 |
+
- Image embeddings (per frame):
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| 38 |
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- observation.images.image_dinov3 → float32 [1024] (DINOv3 ViT-L/16 CLS)
|
| 39 |
+
- observation.images.image_siglip2 → float32 [768] (SigLIP2-base)
|
| 40 |
+
- Task-text embeddings (per unique task):
|
| 41 |
+
- embedding → float32 [768] from google/embeddinggemma-300m
|
| 42 |
+
- Count: 1 rows (one per task)
|
| 43 |
+
|
| 44 |
+
Note: This is an embedding-only package. The original pixel arrays listed under “Removed” are dropped.
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| 45 |
+
|
| 46 |
+
----------------------------------------------------------------
|
| 47 |
+
|
| 48 |
+
<details>
|
| 49 |
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<summary><b>Contents</b></summary>
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| 50 |
+
|
| 51 |
+
<pre>
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| 52 |
+
.
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| 53 |
+
|-- meta/
|
| 54 |
+
| |-- info.json
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| 55 |
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| |-- sharded_index.json
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| 56 |
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| |-- tasks.jsonl
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| 57 |
+
| |-- episodes.jsonl
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| 58 |
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| `-- task_text_embeddings_info.json
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| 59 |
+
|-- data/
|
| 60 |
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| |-- shard-00000-of-000NN.parquet
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| 61 |
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| |-- shard-00001-of-000NN.parquet
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| 62 |
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| |-- ...
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| 63 |
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| `-- task_text_embeddings.parquet
|
| 64 |
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`-- README.md
|
| 65 |
+
</pre>
|
| 66 |
+
</details>
|
| 67 |
+
|
| 68 |
+
----------------------------------------------------------------
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| 69 |
+
|
| 70 |
+
How This Was Generated (Reproducible Pipeline)
|
| 71 |
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|
| 72 |
+
1) Episode → Image Embeddings (drop pixels)
|
| 73 |
+
convert_lerobot_to_embeddings_mono.py (GPU-accelerated preprocessing).
|
| 74 |
+
Adds:
|
| 75 |
+
- observation.images.image_dinov3 (float32[1024])
|
| 76 |
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- observation.images.image_siglip2 (float32[768])
|
| 77 |
+
Removes:
|
| 78 |
+
- observation.images.image
|
| 79 |
+
|
| 80 |
+
2) Task-Text Embeddings (one row per unique task)
|
| 81 |
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build_task_text_embeddings.py with SentenceTransformer("google/embeddinggemma-300m") → data/task_text_embeddings.parquet + meta/task_text_embeddings_info.json.
|
| 82 |
+
|
| 83 |
+
3) Data Consolidation (this release)
|
| 84 |
+
All per-episode Parquets were consolidated into N large Parquet shards in one data/ folder.
|
| 85 |
+
- The index meta/sharded_index.json records, for each episode, its normalized source identifier data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet, the destination shard path, and the (row_offset, num_rows) range inside that shard.
|
| 86 |
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- This preserves original addressing while making Hub sync/clone/stream far faster and more reliable.
|
| 87 |
+
|
| 88 |
+
----------------------------------------------------------------
|
| 89 |
+
|
| 90 |
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Metadata (Excerpts)
|
| 91 |
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|
| 92 |
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meta/task_text_embeddings_info.json
|
| 93 |
+
|
| 94 |
+
~~~json
|
| 95 |
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{
|
| 96 |
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"model": "google/embeddinggemma-300m",
|
| 97 |
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"dimension": 768,
|
| 98 |
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"normalized": true,
|
| 99 |
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"count": 1,
|
| 100 |
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"file": "task_text_embeddings.parquet"
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| 101 |
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}
|
| 102 |
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~~~
|
| 103 |
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|
| 104 |
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|
| 105 |
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meta/info.json (embedding-only + shards)
|
| 106 |
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|
| 107 |
+
~~~json
|
| 108 |
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{
|
| 109 |
+
"codebase_version": "v2.1-embeddings-sharded",
|
| 110 |
+
"robot_type": "franka",
|
| 111 |
+
"total_episodes": 902,
|
| 112 |
+
"total_frames": 294139,
|
| 113 |
+
"total_tasks": 1,
|
| 114 |
+
"total_videos": 902,
|
| 115 |
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"total_chunks": 1,
|
| 116 |
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"chunks_size": 1000,
|
| 117 |
+
"fps": 30,
|
| 118 |
+
"splits": {
|
| 119 |
+
"train": "0:902"
|
| 120 |
+
},
|
| 121 |
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"data_path": "data/shard-{shard_id:05d}-of-{num_shards:05d}.parquet",
|
| 122 |
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"features": {
|
| 123 |
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"observation.state": {
|
| 124 |
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"dtype": "float32",
|
| 125 |
+
"shape": [
|
| 126 |
+
8
|
| 127 |
+
],
|
| 128 |
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"names": {
|
| 129 |
+
"motors": [
|
| 130 |
+
"motor_0",
|
| 131 |
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"motor_1",
|
| 132 |
+
"motor_2",
|
| 133 |
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"motor_3",
|
| 134 |
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"motor_4",
|
| 135 |
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"motor_5",
|
| 136 |
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"motor_6",
|
| 137 |
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"pad"
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
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"action": {
|
| 142 |
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"dtype": "float32",
|
| 143 |
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"shape": [
|
| 144 |
+
7
|
| 145 |
+
],
|
| 146 |
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"names": {
|
| 147 |
+
"motors": [
|
| 148 |
+
"x",
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| 149 |
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"y",
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| 150 |
+
"z",
|
| 151 |
+
"roll",
|
| 152 |
+
"pitch",
|
| 153 |
+
"yaw",
|
| 154 |
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"gripper"
|
| 155 |
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]
|
| 156 |
+
}
|
| 157 |
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},
|
| 158 |
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"timestamp": {
|
| 159 |
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"dtype": "float32",
|
| 160 |
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"shape": [
|
| 161 |
+
1
|
| 162 |
+
],
|
| 163 |
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"names": null
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| 164 |
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},
|
| 165 |
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"frame_index": {
|
| 166 |
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"dtype": "int64",
|
| 167 |
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"shape": [
|
| 168 |
+
1
|
| 169 |
+
],
|
| 170 |
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"names": null
|
| 171 |
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},
|
| 172 |
+
"episode_index": {
|
| 173 |
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"dtype": "int64",
|
| 174 |
+
"shape": [
|
| 175 |
+
1
|
| 176 |
+
],
|
| 177 |
+
"names": null
|
| 178 |
+
},
|
| 179 |
+
"index": {
|
| 180 |
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"dtype": "int64",
|
| 181 |
+
"shape": [
|
| 182 |
+
1
|
| 183 |
+
],
|
| 184 |
+
"names": null
|
| 185 |
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},
|
| 186 |
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"task_index": {
|
| 187 |
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"dtype": "int64",
|
| 188 |
+
"shape": [
|
| 189 |
+
1
|
| 190 |
+
],
|
| 191 |
+
"names": null
|
| 192 |
+
},
|
| 193 |
+
"observation.images.image_dinov3": {
|
| 194 |
+
"dtype": "float32",
|
| 195 |
+
"shape": [
|
| 196 |
+
1024
|
| 197 |
+
],
|
| 198 |
+
"names": null
|
| 199 |
+
},
|
| 200 |
+
"observation.images.image_siglip2": {
|
| 201 |
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"dtype": "float32",
|
| 202 |
+
"shape": [
|
| 203 |
+
768
|
| 204 |
+
],
|
| 205 |
+
"names": null
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
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"video_keys": [
|
| 209 |
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"observation.images.image"
|
| 210 |
+
],
|
| 211 |
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"num_shards": 64,
|
| 212 |
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"index_path": "meta/sharded_index.json"
|
| 213 |
+
}
|
| 214 |
+
~~~
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| 215 |
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| 216 |
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----------------------------------------------------------------
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| 217 |
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| 218 |
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Environment & Dependencies
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| 219 |
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|
| 220 |
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Python ≥ 3.9 • PyTorch ≥ 2.1 • transformers • sentence-transformers • pyarrow • tqdm • decord (and optionally av)
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| 221 |
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|
| 222 |
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----------------------------------------------------------------
|
| 223 |
+
|
| 224 |
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Provenance, License, and Citation
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| 225 |
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|
| 226 |
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- Source dataset: [IPEC-COMMUNITY/toto_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/toto_lerobot)
|
| 227 |
+
- License: apache-2.0 (inherits from the source)
|
| 228 |
+
- Encoders to cite:
|
| 229 |
+
- facebook/dinov3-vitl16-pretrain-lvd1689m
|
| 230 |
+
- google/siglip2-base-patch16-384
|
| 231 |
+
- google/embeddinggemma-300m
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| 232 |
+
|
| 233 |
+
----------------------------------------------------------------
|
| 234 |
+
|
| 235 |
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Changelog
|
| 236 |
+
|
| 237 |
+
- v2.0-embeddings-sharded — Replaced video tensors with DINOv3 + SigLIP2 features; added EmbeddingGemma task-text embeddings; consolidated per-episode Parquets into N shards with a repo-local index; preserved original indexing/splits via normalized episode identifiers.
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data/shard-00000-of-00064.parquet
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version https://git-lfs.github.com/spec/v1
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|
| 1 |
+
{"episode_index": 0, "tasks": ["pour"], "length": 229}
|
| 2 |
+
{"episode_index": 1, "tasks": ["pour"], "length": 305}
|
| 3 |
+
{"episode_index": 2, "tasks": ["pour"], "length": 1160}
|
| 4 |
+
{"episode_index": 3, "tasks": ["pour"], "length": 338}
|
| 5 |
+
{"episode_index": 4, "tasks": ["pour"], "length": 289}
|
| 6 |
+
{"episode_index": 5, "tasks": ["pour"], "length": 289}
|
| 7 |
+
{"episode_index": 6, "tasks": ["pour"], "length": 245}
|
| 8 |
+
{"episode_index": 7, "tasks": ["pour"], "length": 366}
|
| 9 |
+
{"episode_index": 8, "tasks": ["pour"], "length": 313}
|
| 10 |
+
{"episode_index": 9, "tasks": ["pour"], "length": 726}
|
| 11 |
+
{"episode_index": 10, "tasks": ["pour"], "length": 277}
|
| 12 |
+
{"episode_index": 11, "tasks": ["pour"], "length": 229}
|
| 13 |
+
{"episode_index": 12, "tasks": ["pour"], "length": 254}
|
| 14 |
+
{"episode_index": 13, "tasks": ["pour"], "length": 341}
|
| 15 |
+
{"episode_index": 14, "tasks": ["pour"], "length": 310}
|
| 16 |
+
{"episode_index": 15, "tasks": ["pour"], "length": 401}
|
| 17 |
+
{"episode_index": 16, "tasks": ["pour"], "length": 329}
|
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| 753 |
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|
| 754 |
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| 755 |
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|
| 756 |
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|
| 757 |
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|
| 758 |
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|
| 759 |
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|
| 760 |
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|
| 761 |
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|
| 762 |
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|
| 763 |
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|
| 764 |
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|
| 765 |
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|
| 766 |
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|
| 767 |
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|
| 768 |
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|
| 769 |
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|
| 770 |
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|
| 771 |
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|
| 772 |
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|
| 773 |
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|
| 774 |
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|
| 775 |
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|
| 776 |
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|
| 777 |
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|
| 778 |
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|
| 779 |
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|
| 780 |
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|
| 781 |
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|
| 782 |
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|
| 783 |
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|
| 784 |
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|
| 785 |
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|
| 786 |
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|
| 787 |
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|
| 788 |
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|
| 789 |
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|
| 790 |
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|
| 791 |
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|
| 792 |
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|
| 793 |
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|
| 794 |
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|
| 795 |
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|
| 796 |
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|
| 797 |
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|
| 798 |
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|
| 799 |
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|
| 800 |
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|
| 801 |
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|
| 802 |
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|
| 803 |
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|
| 804 |
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|
| 805 |
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|
| 806 |
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|
| 807 |
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|
| 808 |
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|
| 809 |
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|
| 810 |
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|
| 811 |
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|
| 812 |
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|
| 813 |
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|
| 814 |
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|
| 815 |
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|
| 816 |
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|
| 817 |
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|
| 818 |
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|
| 819 |
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|
| 820 |
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|
| 821 |
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|
| 822 |
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|
| 823 |
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|
| 824 |
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|
| 825 |
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|
| 826 |
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|
| 827 |
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|
| 828 |
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|
| 829 |
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|
| 830 |
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|
| 831 |
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|
| 832 |
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|
| 833 |
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|
| 834 |
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|
| 835 |
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|
| 836 |
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|
| 837 |
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|
| 838 |
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|
| 839 |
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|
| 840 |
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|
| 841 |
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|
| 842 |
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|
| 843 |
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|
| 844 |
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|
| 845 |
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|
| 846 |
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|
| 847 |
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|
| 848 |
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|
| 849 |
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|
| 850 |
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|
| 851 |
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|
| 852 |
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|
| 853 |
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|
| 854 |
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|
| 855 |
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|
| 856 |
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|
| 857 |
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|
| 858 |
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|
| 859 |
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|
| 860 |
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|
| 861 |
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|
| 862 |
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|
| 863 |
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|
| 864 |
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|
| 865 |
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|
| 866 |
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|
| 867 |
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|
| 868 |
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|
| 869 |
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|
| 870 |
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|
| 871 |
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|
| 872 |
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|
| 873 |
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|
| 874 |
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|
| 875 |
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{"episode_index": 874, "tasks": ["pour"], "length": 377}
|
| 876 |
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{"episode_index": 875, "tasks": ["pour"], "length": 192}
|
| 877 |
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{"episode_index": 876, "tasks": ["pour"], "length": 244}
|
| 878 |
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|
| 879 |
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{"episode_index": 878, "tasks": ["pour"], "length": 266}
|
| 880 |
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|
| 881 |
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|
| 882 |
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{"episode_index": 881, "tasks": ["pour"], "length": 265}
|
| 883 |
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{"episode_index": 882, "tasks": ["pour"], "length": 204}
|
| 884 |
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{"episode_index": 883, "tasks": ["pour"], "length": 253}
|
| 885 |
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|
| 886 |
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|
| 887 |
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|
| 888 |
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{"episode_index": 887, "tasks": ["pour"], "length": 289}
|
| 889 |
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{"episode_index": 888, "tasks": ["pour"], "length": 218}
|
| 890 |
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{"episode_index": 889, "tasks": ["pour"], "length": 238}
|
| 891 |
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{"episode_index": 890, "tasks": ["pour"], "length": 277}
|
| 892 |
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|
| 893 |
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|
| 894 |
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|
| 895 |
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{"episode_index": 894, "tasks": ["pour"], "length": 249}
|
| 896 |
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|
| 897 |
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{"episode_index": 896, "tasks": ["pour"], "length": 405}
|
| 898 |
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{"episode_index": 897, "tasks": ["pour"], "length": 237}
|
| 899 |
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{"episode_index": 898, "tasks": ["pour"], "length": 653}
|
| 900 |
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{"episode_index": 899, "tasks": ["pour"], "length": 341}
|
| 901 |
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{"episode_index": 900, "tasks": ["pour"], "length": 312}
|
| 902 |
+
{"episode_index": 901, "tasks": ["pour"], "length": 220}
|
meta/info.json
ADDED
|
@@ -0,0 +1,106 @@
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|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
| 8 |
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|
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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},
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
+
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|
| 20 |
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],
|
| 21 |
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|
| 22 |
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|
| 23 |
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"motor_0",
|
| 24 |
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"motor_1",
|
| 25 |
+
"motor_2",
|
| 26 |
+
"motor_3",
|
| 27 |
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"motor_4",
|
| 28 |
+
"motor_5",
|
| 29 |
+
"motor_6",
|
| 30 |
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"pad"
|
| 31 |
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]
|
| 32 |
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}
|
| 33 |
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},
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"x",
|
| 42 |
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"y",
|
| 43 |
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"z",
|
| 44 |
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|
| 45 |
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"pitch",
|
| 46 |
+
"yaw",
|
| 47 |
+
"gripper"
|
| 48 |
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]
|
| 49 |
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}
|
| 50 |
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},
|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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1
|
| 83 |
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],
|
| 84 |
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|
| 85 |
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},
|
| 86 |
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"observation.images.image_dinov3": {
|
| 87 |
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"dtype": "float32",
|
| 88 |
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|
| 89 |
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1024
|
| 90 |
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],
|
| 91 |
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|
| 92 |
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|
| 93 |
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"observation.images.image_siglip2": {
|
| 94 |
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"dtype": "float32",
|
| 95 |
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|
| 96 |
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768
|
| 97 |
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|
| 98 |
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|
| 99 |
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}
|
| 100 |
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},
|
| 101 |
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"video_keys": [
|
| 102 |
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"observation.images.image"
|
| 103 |
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],
|
| 104 |
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|
| 105 |
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"index_path": "meta/sharded_index.json"
|
| 106 |
+
}
|
meta/sharded_index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/task_text_embeddings_info.json
ADDED
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@@ -0,0 +1,7 @@
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{
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"model": "google/embeddinggemma-300m",
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"dimension": 768,
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"normalized": true,
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"count": 1,
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"file": "task_text_embeddings.parquet"
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}
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meta/tasks.jsonl
ADDED
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{"task_index": 0, "task": "pour"}
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